<div class="tab-pid_tuning">
    <div class="content_wrapper">
        <div class="tab_title" i18n="tabPidTuning"></div>
        <div class="cf_doc_version_bt">
            <a id="button-documentation" href="" target="_blank" rel="noopener noreferrer"></a>
        </div>
        <div class="content_wrapper_header">
            <div class="profile single-field">
                <div class="helpicon cf_tip" i18n_title="pidTuningProfileTip"></div>
                <div class="head" i18n="pidTuningProfile"></div>
                <div>
                    <select name="profile">
                        <!--  list generated here -->
                    </select>
                </div>
            </div>
            <div class="rate_profile single-field">
                <div class="helpicon cf_tip" i18n_title="pidTuningRateProfileTip"></div>
                <div class="head" i18n="pidTuningRateProfile"></div>
                <div>
                    <select name="rate_profile">
                        <!--  list generated here -->
                    </select>
                </div>
            </div>
            <div class="controller single-field">
                <div class="helpicon cf_tip" i18n_title="pidTuningPidControllerTip"></div>
                <div class="head" i18n="pidTuningControllerHead"></div>
                <div>
                    <select name="controller">
                        <!-- list generated here -->
                    </select>
                </div>
            </div>
            <div class="content_wrapper_header_btns">
                <div class="default_btn copyprofilebtn">
                    <a href="#" id="copyProfile" i18n="pidTuningCopyProfile"></a>
                </div>
                <div class="default_btn copyrateprofilebtn">
                    <a href="#" id="copyRateProfile" i18n="pidTuningCopyRateProfile"></a>
                </div>
                <div class="default_btn resetbt">
                    <a href="#" id="resetPidProfile" i18n="pidTuningResetPidProfile"></a>
                </div>
                <div class="default_btn show showAllPids">
                    <a href="#" id="showAllPids" i18n="pidTuningShowAllPids"></a>
                </div>
            </div>
        </div>
        <div class="tab-container">
            <div class="tab pid active">
                <a href="#" i18n="pidTuningSubTabPid"></a>
            </div>
            <div class="tab rates">
                <a href="#" i18n="pidTuningSubTabRates"></a>
            </div>
            <div class="tab filter">
                <a href="#" i18n="pidTuningSubTabFilter"></a>
            </div>
        </div>
        <div class="tabarea">
        <form name="pid-tuning" id="pid-tuning">
            <div class="subtab-pid">
                <div class="clear-both"></div>
                <div class="cf_column">
                    <div class="profile_name">
                        <div class="number">
                            <label> <input type="text" name="pidProfileName" maxlength="8" style="width:100px;"/> <span
                                i18n="pidProfileName"></span>
                            </label>
                            <div class="helpicon cf_tip" i18n_title="pidProfileNameHelp"></div>
                        </div>
                    </div>
                    <div class="gui_box grey">
                        <table id="pid_main" class="pid_tuning">
                            <tr class="pid_titlebar">
                                <th class="name"></th>
                                <th class="proportional">
                                    <div class="name-helpicon-flex">
                                        <div class="xs">Proportional</div>
                                        <div class="cf_tip sm-min" i18n="pidTuningProportional" i18n_title="pidTuningProportionalHelp"></div>
                                    </div>
                                </th>
                                <th class="integral">
                                    <div class="name-helpicon-flex">
                                        <div class="xs">Integral</div>
                                        <div class="cf_tip sm-min" i18n="pidTuningIntegral" i18n_title="pidTuningIntegralHelp"></div>
                                    </div>
                                </th>
                                <th class="derivative">
                                    <div class="name-helpicon-flex">
                                        <div class="xs">Derivative</div>
                                        <div class="cf_tip sm-min" i18n="pidTuningDerivative" i18n_title="pidTuningDerivativeHelp"></div>
                                    </div>
                                </th>
                                <th class="dmax">
                                    <div class="name-helpicon-flex">
                                        <div class="xs">D Max</div>
                                        <div class="cf_tip sm-min" i18n="pidTuningDMax" i18n_title="pidTuningDMaxHelp"></div>
                                    </div>
                                </th>
                                <th class="feedforward">
                                    <div class="name-helpicon-flex">
                                        <div class="xs">Feedforward</div>
                                        <div class="cf_tip sm-min" i18n="pidTuningFeedforward" i18n_title="pidTuningFeedforwardHelp"></div>
                                    </div>
                                </th>
                            </tr>
                            <tr class="pid_titlebar2">
                                <th colspan="6">
                                    <div class="pid_mode">
                                        <div i18n="pidTuningBasic" class="float-left"></div>
                                    </div>
                                </th>
                            </tr>
                            <tr class="ROLL">
                                <!-- 0 -->
                                <td class="pid_roll"></td>
                                <td class="pid_data"><input type="number" name="p" step="1" min="0" max="250" /></td>
                                <td class="pid_data"><input type="number" name="i" step="1" min="0" max="250" /></td>
                                <td class="pid_data"><input type="number" name="d" step="1" min="0" max="250" /></td>
                                <td class="pid_data"><input type="number" name="dMaxRoll" step="1" min="0" max="250" /></td>
                                <td class="pid_data"><input type="number" name="f" step="1" min="0" max="2000" /></td>

                            </tr>
                            <tr class="PITCH">
                                <!-- 1 -->
                                <td class="pid_pitch"></td>
                                <td class="pid_data"><input type="number" name="p" step="1" min="0" max="250" /></td>
                                <td class="pid_data"><input type="number" name="i" step="1" min="0" max="250" /></td>
                                <td class="pid_data"><input type="number" name="d" step="1" min="0" max="250" /></td>
                                <td class="pid_data"><input type="number" name="dMaxPitch" step="1" min="0" max="250" /></td>
                                <td class="pid_data"><input type="number" name="f" step="1" min="0" max="2000" /></td>
                            </tr>
                            <tr class="YAW">
                                <!-- 2 -->
                                <td class="pid_yaw"></td>
                                <td class="pid_data"><input type="number" name="p" step="1" min="0" max="250" /></td>
                                <td class="pid_data"><input type="number" name="i" step="1" min="0" max="250" /></td>
                                <td class="pid_data"><input type="number" name="d" step="1" min="0" max="250" /></td>
                                <td class="pid_data"><input type="number" name="dMaxYaw" step="1" min="0" max="250" /></td>
                                <td class="pid_data"><input type="number" name="f" step="1" min="0" max="2000" /></td>
                            </tr>
                            <tr class="YAW_JUMP_PREVENTION">
                                <td colspan="3">
                                    <div>
                                        <div i18n="pidTuningYawJumpPrevention" class="float-left"></div>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningYawJumpPreventionHelp"></div>
                                    </div>
                                </td>
                                <td class="pid_data"><input type="number" name="d" step="1" min="0" max="255" /></td>
                                <td colspan="4"></td>
                            </tr>
                        </table>
                    </div>

                    <div class="gui_box slidersDisabled">
                        <table class="note-button">
                            <td i18n="pidTuningPidSlidersDisabled"></td>
                            <td>
                                <a href="#" class="buttonPidTuningSliders regular-button" i18n="pidTuningSliderEnableButton"></a>
                            </td>
                        </table>
                    </div>

                    <!-- TUNING SLIDERS-->

                    <div id="slidersPidsBox" class="gui_box grey tuningPIDSliders">
                        <table class="pid_titlebar">
                            <tr>
                                <th scope="col">
                                    <div i18n="pidTuningSliderPidsMode" class="sm-min"></div>
                                    <select id="sliderPidsModeSelect" class="sliderMode">
                                        <option value="0" i18n="pidTuningOptionOff"></option>
                                        <option value="1" i18n="pidTuningOptionRP"></option>
                                        <option value="2" i18n="pidTuningOptionRPY"></option>
                                    </select>
                                </th>
                                <th scope="col">
                                    <div class="helpicon cf_tip" i18n_title="pidTuningSliderModeHelp"></div>
                                </th>
                                <th i18n="pidTuningSliderLow"></th>
                                <th i18n="pidTuningSliderDefault"></th>
                                <th i18n="pidTuningSliderHigh"></th>
                                <th>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningPidSlidersHelp"></div>
                                </th>
                            </tr>
                        </table>

                        <table class="sliderLabels">

                            <tr class="baseSlider baseSliderDGain">
                                <td>
                                    <span i18n="pidTuningDGainSlider"></span>
                                </td>
                                <td>
                                    <output type="number" name="sliderDGain-number"></output>
                                </td>
                                <td colspan="3">
                                    <input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderDGain" />
                                </td>
                                <td>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningDGainSliderHelp"></div>
                                </td>
                            </tr>
                            <tr class="baseSlider baseSliderPIGain">
                                <td>
                                    <span i18n="pidTuningPIGainSlider"></span>
                                </td>
                                <td>
                                    <output type="number" name="sliderPIGain-number"></output>
                                </td>
                                <td colspan="3">
                                    <input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderPIGain" />
                                </td>
                                <td>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningPIGainSliderHelp"></div>
                                </td>
                            </tr>
                            <tr class="baseSlider baseSliderFeedforwardGain">
                                <td>
                                    <span i18n="pidTuningResponseSlider"></span>
                                </td>
                                <td>
                                    <output type="number" name="sliderFeedforwardGain-number"></output>
                                </td>
                                <td colspan="3">
                                    <input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderFeedforwardGain" />
                                </td>
                                <td>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningResponseSliderHelp"></div>
                                </td>
                            </tr>
                            <tr class="advancedSlider">
                                <td colspan="6" class="sliderDivider"><hr /></td>
                            </tr>
                            <tr class="advancedSlider advancedSliderDmaxGain">
                                <td>
                                    <span i18n="pidTuningDMaxGainSlider"></span>
                                </td>
                                <td>
                                    <output type="number" name="sliderDMaxGain-number"></output>
                                </td>
                                <td colspan="3">
                                    <input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderDMaxGain" />
                                </td>
                                <td>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningDMaxGainSliderHelp"></div>
                                </td>
                            </tr>
                            <tr class="advancedSlider advancedSliderIGain">
                                <td>
                                    <span i18n="pidTuningIGainSlider"></span>
                                </td>
                                <td>
                                    <output type="number" name="sliderIGain-number"></output>
                                </td>
                                <td colspan="3">
                                    <input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderIGain" />
                                </td>
                                <td>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningIGainSliderHelp"></div>
                                </td>
                            </tr>
                            <tr class="advancedSlider advancedSliderRollPitchRatio">
                                <td>
                                    <span i18n="pidTuningRollPitchRatioSlider"></span>
                                </td>
                                <td>
                                    <output type="number" name="sliderRollPitchRatio-number"></output>
                                </td>
                                <td colspan="3">
                                    <input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderRollPitchRatio" />
                                </td>
                                <td>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningRollPitchRatioSliderHelp"></div>
                                </td>
                            </tr>
                            <tr class="advancedSlider advancedSliderPitchPIGain">
                                <td>
                                    <span i18n="pidTuningPitchPIGainSlider"></span>
                                </td>
                                <td>
                                    <output type="number" name="sliderPitchPIGain-number"></output>
                                </td>
                                <td colspan="3">
                                    <input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderPitchPIGain" />
                                </td>
                                <td>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningPitchPIGainSliderHelp"></div>
                                </td>
                            </tr>
                            <tr class="advancedSlider advancedSliderMaster">
                                <td>
                                    <span i18n="pidTuningMasterSlider"></span>
                                </td>
                                <td>
                                    <output type="number" name="sliderMasterMultiplier-number"></output>
                                </td>
                                <td colspan="3">
                                    <input type="range" min="0.0" max="2.0" step="0.05" class="tuningSlider" id="sliderMasterMultiplier" />
                                </td>
                                <td>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningMasterSliderHelp"></div>
                                </td>
                            </tr>

                         </table>
                    </div>

                    <div class="danger slidersWarning">
                        <p i18n="pidTuningSliderWarning"></p>
                    </div>

                    <div class="note nonExpertModeSlidersNote">
                        <p i18n="pidTuningPidSlidersNonExpertMode"></p>
                    </div>
                    <div class="note expertSettingsDetectedNote">
                        <p i18n="pidTuningSlidersExpertSettingsDetectedNote"></p>
                    </div>

                    <!-- BARO, MAG, GPS -->
                    <div id="pid_baro_mag_gps" class="pid_optional needed_by_ALT needed_by_VEL needed_by_MAG needed_by_Pos needed_by_PosR needed_by_NavR gui_box grey pid_tuning">
                        <table class="pid_titlebar needed_by_ALT needed_by_VEL needed_by_MAG">
                            <tr class="needed_by_ALT needed_by_VEL needed_by_MAG">
                                <th class="name"></th>
                                <th class="proportional" i18n="pidTuningProportional"></th>
                                <th class="integral" i18n="pidTuningIntegral"></th>
                                <th class="derivative" i18n="pidTuningDerivative"></th>
                            </tr>
                        </table>
                        <table id="pid_baro" class="pid_tuning needed_by_ALT needed_by_VEL">
                            <tr class="needed_by_ALT needed_by_VEL">
                                <th colspan="4">
                                    <div class="pid_mode" i18n="pidTuningAltitude"></div>
                                </th>
                            </tr>
                            <tr class="ALT">
                                <!-- 3 -->
                                <td></td>
                                <td><input type="number" name="p" step="1" min="0" max="255" /></td>
                                <td><input type="number" name="i" step="1" min="0" max="255" /></td>
                                <td><input type="number" name="d" step="1" min="0" max="255" /></td>
                            </tr>
                            <tr class="VEL">
                                <!-- 9 -->
                                <td></td>
                                <td><input type="number" name="p" step="1" min="0" max="255" /></td>
                                <td><input type="number" name="i" step="1" min="0" max="255" /></td>
                                <td><input type="number" name="d" step="1" min="0" max="255" /></td>
                            </tr>
                        </table>
                        <table id="pid_mag" class="pid_tuning needed_by_MAG">
                            <tr class="needed_by_MAG">
                                <th colspan="4">
                                    <div class="pid_mode" i18n="pidTuningMag"></div>
                                </th>
                            </tr>
                            <tr class="MAG">
                                <!-- 8 -->
                                <td></td>
                                <td><input type="number" name="p" step="1" min="0" max="255" /></td>
                                <td></td>
                                <td></td>
                            </tr>
                        </table>
                        <table id="pid_gps" class="pid_tuning needed_by_Pos needed_by_PosR needed_by_NavR">
                            <tr class="needed_by_Pos needed_by_PosR needed_by_NavR">
                                <th colspan="4">
                                    <div class="pid_mode" i18n="pidTuningGps"></div>
                                </th>
                            </tr>
                            <tr class="Pos">
                                <!-- 4 -->
                                <td></td>
                                <td><input type="number" name="p" step="1" min="0" max="255" /></td>
                                <td></td>
                                <td></td>
                            </tr>
                            <tr class="PosR">
                                <!-- 5 -->
                                <td></td>
                                <td><input type="number" name="p" step="1" min="0" max="255" /></td>
                                <td><input type="number" name="i" step="1" min="0" max="255" /></td>
                                <td><input type="number" name="d" step="1" min="0" max="255" /></td>
                            </tr>
                            <tr class="NavR">
                                <!-- 6 -->
                                <td></td>
                                <td><input type="number" name="p" step="1" min="0" max="255" /></td>
                                <td><input type="number" name="i" step="1" min="0" max="255" /></td>
                                <td><input type="number" name="d" step="1" min="0" max="255" /></td>
                            </tr>
                        </table>
                    </div>
                    <div id="pid_accel" class="pid_optional needed_by_LEVEL gui_box grey pid_tuning">
                        <table id="pid_level" class="pid_tuning needed_by_LEVEL">
                            <tr class="needed_by_LEVEL">
                                <th colspan="3">
                                    <div class="pid_mode">
                                        <div i18n="pidTuningLevel" class="float-left"></div>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningLevelHelp"></div>
                                    </div>
                                </th>
                            </tr>
                        </table>
                        <table class="pid_titlebar pid_titlebar_extended needed_by_LEVEL">
                            <tr class="needed_by_LEVEL">
                                <th class="third"></th>
                                <th class="third" i18n="pidTuningStrength" style="width: 33%;"></th>
                                <th class="third" i18n="pidTuningTransition" style="width: 33%;"></th>
                            </tr>
                        </table>
                        <table class="needed_by_LEVEL">
                            <tr class="LEVEL">
                                <!-- 7 -->
                                <td class="third" i18n="pidTuningAngle"></td>
                                <td class="third"><input type="number" name="p" step="1" min="0" max="255" /></td>
                                <td class="third"></td>
                            </tr>
                            <tr class="LEVEL">
                                <!-- 7 -->
                                <td class="third" i18n="pidTuningHorizon"></td>
                                <td class="third"><input type="number" name="i" step="1" min="0" max="255" /></td>
                                <td class="third"><input type="number" name="d" step="1" min="0" max="255" /></td>
                            </tr>
                        </table>
                        <table class="needed_by_LEVEL pid_titlebar pid_titlebar_extended pid_sensitivity">
                            <tr class="needed_by_LEVEL">
                                <th class="third"></th>
                                <th class="third" i18n="pidTuningLevelAngleLimit" style="width: 33%;"></th>
                                <th class="third levelSensitivityHeader" i18n="pidTuningLevelSensitivity" style="width: 33%;"></th>
                            </tr>
                        </table>
                        <table id="pid_sensitivity" class="needed_by_LEVEL pid_tuning pid_sensitivity">
                            <tr class="needed_by_LEVEL">
                                <td class="third"></td>
                                <td class="third"><input type="number" name="angleLimit" step="1" min="10" max="200" /></td>
                                <td class="third"><input type="number" name="sensitivity" step="1" min="10" max="120" /></td>
                            </tr>
                        </table>
                    </div>
                </div>

                <div class="cf_column_right">
                    <!-- Pid controller advanced settings -->
                    <div class="gui_box grey pidTuningSuperexpoRates spacer_left">
                        <table class="pid_titlebar new_rates">
                            <tr>
                                <th i18n="pidTuningNonProfilePidSettings"></th>
                            </tr>
                        </table>
                        <table class="pidTuningSuperexpoRates new_rates">
                            <tbody class="features superexpoRates">
                                <!-- table generated here -->
                            </tbody>
                        </table>
                    </div>
                    <div class="gui_box grey pidControllerAdvancedSettings spacer_left">
                        <table class="pid_titlebar new_rates">
                            <tr>
                                <th i18n="pidTuningPidSettings"></th>
                            </tr>
                        </table>
                        <table class="compensation">
                            <tr class="delta">
                                <td>
                                    <select id="delta-select">
                                        <option value="0" i18n="pidTuningDeltaError"/>
                                        <option value="1" i18n="pidTuningDeltaMeasurement"/>
                                    </select>
                                </td>
                                <td>
                                    <div>
                                        <label for="delta-select">
                                            <span i18n="pidTuningDelta"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningDeltaTip"></div>
                                    </div>
                                </td>
                            </tr>
                            <tr class="dtermSetpoint">
                                <td><input type="number" name="dtermSetpoint-number" step="0.01" min="0.00" max="20"/></td>
                                <td>
                                    <div>
                                        <label>
                                            <span i18n="pidTuningDtermSetpoint"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningDtermSetpointHelp"></div>
                                    </div>
                                </td>
                            </tr>
                            <tr class="dtermSetpointTransition">
                                <td><input type="number" name="dtermSetpointTransition-number" step="0.01" min="0.00" max="1.00"/></td>
                                <td colspan="1">
                                    <div>
                                        <label>
                                            <span i18n="pidTuningDtermSetpointTransition"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningDtermSetpointTransitionHelp"></div>
                                    </div>
                                </td>
                            </tr>
                            <tr class="dtermSetpointTransitionWarning">
                                <td colspan="3">
                                    <span i18n="pidTuningDtermSetpointTransitionWarning"></span>
                                </td>
                            </tr>

                            <tr class="feedforwardGroup">
                                <td><span i18n="pidTuningFeedforwardGroup"></span></td>
                                <td colspan="2">

                                    <span class="feedforwardOption feedforwardJitterFactor suboption">
                                        <input type="number" name="feedforwardJitterFactor" step="1" min="0" max="20"/>
                                        <label>
                                            <span i18n="pidTuningFeedforwardJitter"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardJitterHelp"></div>
                                    </span>

                                    <span class="feedforwardOption feedforwardSmoothFactor suboption">
                                        <input type="number" name="feedforwardSmoothFactor" step="1" min="0" max="95" />
                                        <label for="feedforwardSmoothFactor">
                                            <span i18n="pidTuningFeedforwardSmoothFactor"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardSmoothnessHelp"></div>
                                    </span>

                                    <span class="feedforwardOption feedforwardAveraging suboption">
                                        <select id="feedforwardAveraging">
                                            <option i18n="pidTuningOptionOff"         value="0"/>
                                            <option i18n="pidTuningFeedforwardAveragingOption2Point"      value="1"/>
                                            <option i18n="pidTuningFeedforwardAveragingOption3Point"      value="2"/>
                                            <option i18n="pidTuningFeedforwardAveragingOption4Point"      value="3"/>
                                        </select>
                                        <label for="feedforwardAveraging">
                                            <span i18n="pidTuningFeedforwardAveraging"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardAveragingHelp"></div>
                                    </span>

                                    <span class="feedforwardOption feedforwardBoost suboption">
                                        <input type="number" name="feedforwardBoost" step="1" min="0" max="50" />
                                        <label for="feedforwardBoost">
                                            <span i18n="pidTuningFeedforwardBoost"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardBoostHelp"></div>
                                    </span>

                                    <span class="feedforwardOption feedforwardMaxRateLimit suboption">
                                        <input type="number" name="feedforwardMaxRateLimit" step="1" min="0" max="150"/>
                                        <label>
                                            <span i18n="pidTuningFeedforwardMaxRateLimit"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardMaxRateLimitHelp"></div>
                                    </span>

                                    <span class="feedforwardTransition suboption">
                                        <input type="number" name="feedforwardTransition-number" step="0.01" min="0.00" max="1.00"/>
                                        <label>
                                            <span i18n="pidTuningFeedforwardTransition"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningFeedforwardTransitionHelp"></div>
                                    </span>
                                </td>
                            </tr>

                            <tr class="itermrelax">
                                <td><input type="checkbox" id="itermrelax" class="toggle" /></td>
                                <td colspan="2">
                                    <div class="helpicon cf_tip" i18n_title="pidTuningItermRelaxHelp"></div>
                                    <span i18n="pidTuningItermRelax"></span>

                                    <span class="suboption">
                                        <select id="itermrelaxAxes">
                                            <option i18n="pidTuningOptionRP"     value="1">
                                            <option i18n="pidTuningOptionRPY"    value="2"/>
                                            <option i18n="pidTuningItermRelaxAxesOptionRPInc"  value="3"/>
                                            <option i18n="pidTuningItermRelaxAxesOptionRPYInc" value="4"/>
                                        </select>
                                        <label for="itermrelaxAxes">
                                            <span i18n="pidTuningItermRelaxAxes"></span>
                                        </label>
                                    </span>

                                    <span class="suboption">
                                        <select id="itermrelaxType">
                                            <option i18n="pidTuningItermRelaxTypeOptionGyro"     value="0"/>
                                            <option i18n="pidTuningItermRelaxTypeOptionSetpoint" value="1"/>
                                        </select>
                                        <label for="itermrelaxType">
                                            <span i18n="pidTuningItermRelaxType"></span>
                                        </label>
                                    </span>

                                    <span class="itermRelaxCutoff suboption">
                                        <input type="number" name="itermRelaxCutoff" step="1" min="1" max="50" />
                                        <label for="itermRelaxCutoff">
                                            <span i18n="pidTuningItermRelaxCutoff"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningItermRelaxCutoffHelp"></div>
                                    </span>
                                </td>
                            </tr>

                            <tr class="antigravity">
                                <td><input type="checkbox" id="antiGravitySwitch" class="toggle" /></td>
                                <td colspan="3">
                                    <div class="helpicon cf_tip" i18n_title="pidTuningAntiGravityHelp"></div>
                                    <span i18n="pidTuningAntiGravity"></span>
                                    <span class="suboption">
                                        <table>
                                            <tbody class="features antiGravity">
                                                <!-- table generated here -->
                                            </tbody>
                                        </table>
                                    </span>

                                    <span class="suboption antiGravityMode">
                                        <select id="antiGravityMode">
                                            <option i18n="pidTuningAntiGravityModeOptionSmooth"     value="0"/>
                                            <option i18n="pidTuningAntiGravityModeOptionStep"       value="1"/>
                                        </select>
                                        <label for="antiGravityMode">
                                            <span i18n="pidTuningAntiGravityMode"></span>
                                        </label>
                                    </span>

                                    <span class="suboption">
                                        <input type="number" name="itermAcceleratorGain" step="0.1" min="0.1" max="30" />
                                        <label for="antiGravityGain">
                                            <span i18n="pidTuningAntiGravityGain"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningAntiGravityGainHelp"></div>
                                    </span>

                                    <span class="suboption antiGravityThres">
                                        <input type="number" name="itermThrottleThreshold" step="10" min="20" max="1000" />
                                        <label for="antiGravityThres">
                                            <span i18n="pidTuningAntiGravityThres"></span>
                                        </label>
                                    </span>
                                </td>
                            </tr>

                            <tr class="itermrotation">
                                <td><input type="checkbox" id="itermrotation" class="toggle" /></td>
                                <td colspan="2">
                                    <span i18n="pidTuningItermRotation"></span>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningItermRotationHelp"></div>
                                </td>
                            </tr>

                            <tr class="dMaxGroup">
                                <td>
                                    <span i18n="pidTuningDMaxSettingTitle"></span>
                                </td>
                                <td colspan="3">
                                    <span class="suboption">
                                        <input type="number" name="dMaxGain" step="1" min="0" max="100" />
                                        <label for="dMaxGain">
                                            <span i18n="pidTuningDMaxGain"></span>
                                        </label>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningDMaxGainHelp"></div>
                                    </span>
                                    <span class="suboption">
                                        <input type="number" name="dMaxAdvance" step="1" min="0" max="200" />
                                        <label for="dMaxAdvance">
                                            <span i18n="pidTuningDMaxAdvance"></span>
                                        </label>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningDMaxAdvanceHelp"></div>
                                    </span>
                                </td>
                            </tr>

                        </table>
                    </div>

                    <div class="gui_box grey pidControllerAdvancedSettings spacer_left">
                        <table class="pid_titlebar new_rates">
                            <tr>
                                <th i18n="pidTuningMotorSettings"></th>
                            </tr>
                        </table>
                        <table class="compensation">

                            <tr class="throttleBoost">
                                <td><input type="number" name="throttleBoost-number" step="1" min="0" max="100"/></td>
                                <td colspan="2">
                                    <div>
                                        <label>
                                            <span i18n="pidTuningThrottleBoost"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningThrottleBoostHelp"></div>
                                    </div>
                                </td>
                            </tr>

                            <tr class="motorOutputLimit">
                                <td><input type="number" name="motorLimit" step="1" min="1" max="100"/></td>
                                <td colspan="2">
                                    <div>
                                        <label>
                                            <span i18n="pidTuningMotorOutputLimit"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningMotorLimitHelp"></div>
                                    </div>
                                </td>
                            </tr>

                            <tr class="idleMinRpm">
                                <td><input type="number" name="idleMinRpm-number" step="1" min="0" max="100"/></td>
                                <td colspan="2">
                                    <div>
                                        <label>
                                            <span class="pidTuningIdleMinRpmDisabled"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningIdleMinRpmHelp"></div>
                                    </div>
                                </td>
                            </tr>

                            <tr class="vbatSagCompensation">
                                <td><input type="checkbox" id="vbatSagCompensation" class="toggle" /></td>
                                <td colspan="2">
                                    <span i18n="pidTuningVbatSagCompensation"></span>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningVbatSagCompensationHelp"></div>

                                    <span class="vbatSagValue suboption">
                                        <input type="number" name="vbatSagValue" step="1" min="1" max="150" />
                                        <label for="vbatSagValue">
                                            <span i18n="pidTuningVbatSagValue"></span>
                                        </label>
                                    </span>
                                </td>
                            </tr>

                            <tr class="thrustLinearization">
                                <td><input type="checkbox" id="thrustLinearization" class="toggle" /></td>
                                <td colspan="2">
                                    <span i18n="pidTuningThrustLinearization"></span>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningThrustLinearizationHelp"></div>

                                    <span class="thrustLinearValue suboption">
                                        <input type="number" name="thrustLinearValue" step="1" min="1" max="150" />
                                        <label for="thrustLinearValue">
                                            <span i18n="pidTuningThrustLinearValue"></span>
                                        </label>
                                    </span>
                                </td>
                            </tr>

                            <tr class="vbatpidcompensation">
                                <td><input type="checkbox" id="vbatpidcompensation" class="toggle" /></td>
                                <td colspan="2">
                                    <span i18n="pidTuningVbatPidCompensation"></span>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningVbatPidCompensationHelp"></div>
                                </td>
                            </tr>
                        </table>
                    </div>

                    <div class="gui_box grey tpa pidControllerAdvancedSettings spacer_left">
                        <table class="pid_titlebar tpa-header" aria-labelledby="tpa-header">
                            <tr>
                                <th i18n="pidTuningTPAMode"></th>
                                <th i18n="pidTuningTPARate"></th>
                                <th i18n="pidTuningTPABreakPoint"></th>
                            </tr>
                        </table>
                        <table class="tpa-settings" aria-labelledby="tpa-settings" role="presentation">
                            <tr>
                                <td>
                                    <select id="tpaMode">
                                        <option value="0" i18n="pidTuningTPAPD"></option>
                                        <option value="1" i18n="pidTuningTPAD"></option>
                                    </select>
                                </td>
                                <td><input type="number" id="tpaRate" step="1" min="0" max="100" /></td>
                                <td class="tpa-breakpoint"><input type="number" id="tpaBreakpoint" step="10" min="750" max="2250" /></td>
                            </tr>
                        </table>
                    </div>

                    <div class="gui_box grey pidControllerAdvancedSettings spacer_left">
                        <table class="pid_titlebar new_rates">
                            <tr>
                                <th i18n="pidTuningMiscSettings"></th>
                            </tr>
                        </table>
                        <table class="compensation">

                            <tr class="cellCount">
                                <td>
                                    <select name="cellCount">
                                        <option value="-1" i18n="pidTuningCellCountChange"></option>
                                        <option value="0" i18n="pidTuningCellCountStay"></option>
                                        <option value="1" i18n="pidTuningCellCount1S"></option>
                                        <option value="2" i18n="pidTuningCellCount2S"></option>
                                        <option value="3" i18n="pidTuningCellCount3S"></option>
                                        <option value="4" i18n="pidTuningCellCount4S"></option>
                                        <option value="5" i18n="pidTuningCellCount5S"></option>
                                        <option value="6" i18n="pidTuningCellCount6S"></option>
                                        <option value="7" i18n="pidTuningCellCount7S"></option>
                                        <option value="8" i18n="pidTuningCellCount8S"></option>
                                    </select>
                                </td>
                                <td colspan="2">
                                    <div>
                                        <label>
                                            <span i18n="pidTuningCellCount"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningCellCountHelp"></div>
                                    </div>
                                </td>
                            </tr>

                            <tr class="acroTrainerAngleLimit">
                                <td><input type="number" name="acroTrainerAngleLimit-number" step="1" min="10" max="80"/></td>
                                <td colspan="2">
                                    <div>
                                        <label>
                                            <span i18n="pidTuningAcroTrainerAngleLimit"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningAcroTrainerAngleLimitHelp"></div>
                                    </div>
                                </td>
                            </tr>

                            <tr class="smartfeedforward">
                                <td><input type="checkbox" id="smartfeedforward" class="toggle" /></td>
                                <td colspan="2">
                                    <span i18n="pidTuningSmartFeedforward"></span>
                                    <div class="helpicon cf_tip" i18n_title="pidTuningSmartFeedforwardHelp"></div>
                                </td>
                            </tr>

                            <tr class="integratedYaw">
                                <td><input type="checkbox" id="useIntegratedYaw" class="toggle" /></td>
                                <td colspan="2">
                                    <div class="helpicon cf_tip" i18n_title="pidTuningIntegratedYawHelp"></div>
                                    <span i18n="pidTuningIntegratedYaw"></span>
                                    <span class="spacer_left" id="pidTuningIntegratedYawCaution" i18n="pidTuningIntegratedYawCaution"></span>
                                </td>
                            </tr>

                            <tr class="absoluteControlGain">
                                <td><input type="number" name="absoluteControlGain-number" step="1" min="0" max="20"/></td>
                                <td colspan="2">
                                    <div>
                                        <label>
                                            <span i18n="pidTuningAbsoluteControlGain"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningAbsoluteControlGainHelp"></div>
                                    </div>
                                </td>
                            </tr>

                        </table>
                    </div>
                </div>
            </div>

            <!-- RATES SUBTAB -->
            <div class="subtab-rates" style="display: none;">
                <div class="clear-both"></div>
                <div class="cf_column">
                    <div class="profile_name">
                        <div class="number">
                            <label> <input type="text" name="rateProfileName" maxlength="8" style="width:100px;"/> <span
                                i18n="rateProfileName"></span>
                            </label>
                            <div class="helpicon cf_tip" i18n_title="rateProfileNameHelp"></div>
                        </div>
                    </div>
                    <div class="gui_box rates_type pid_tuning">
                        <table class="cf">
                            <thead>
                                <tr>
                                    <th>
                                        <div>
                                            <div i18n="pidTuningRatesType" class="float-left"></div>
                                            <div class="helpicon cf_tip" i18n_title="pidTuningRatesTypeTip"></div>
                                        </div>
                                    </th>
                                    <th class="rates_logo_bg"></th>
                                </tr>
                            </thead>
                            <tbody>
                                <tr>
                                    <td>
                                        <select id="ratesType">
                                            <!-- list generated here -->
                                        </select>
                                    </td>
                                    <td class="rates_logo_bg">
                                        <div class="rates_logo_div">
                                            <img id="ratesLogo" src="../images/rate_logos/betaflight.svg" class="rates_logo" alt="Rates logo"/>
                                        </div>
                                    </td>
                                </tr>
                            </tbody>
                        </table>
                    </div>

                    <div class="danger rates-tab-warning maxRateWarning">
                        <p i18n="pidTuningMaxRateWarning"></p>
                    </div>
                    <div class="gui_box grey rateSetup">
                        <table id="rateSetup" class="pid_tuning">
                            <tr class="pid_titlebar">
                                <th class="name"></th>
                                <th class="rc_rate" i18n="pidTuningRcRate"></th>
                                <th class="rate" i18n="pidTuningRate"></th>
                                <th class="rc_expo" i18n="pidTuningRcExpo"></th>
                                <th class="new_rates centerSensitivity" i18n="pidTuningRcRateActual"></th>
                                <th class="new_rates maxVel" i18n="pidTuningMaxVel"></th>
                            </tr>
                            <tr class="pid_titlebar2">
                                <th colspan="5">
                                    <div class="pid_mode">
                                        <div i18n="pidTuningRateSetup" class="float-left"></div>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningRatesTuningHelp"></div>
                                    </div>
                                </th>
                            </tr>
                            <tr class="ROLL">
                                <td class="pid_roll"></td>
                                <td class="rc_rate">
                                    <input type="number" class="rc_rate_input" name="rc_rate" step="0.01" min="0.01" max="2.55" />
                                </td>
                                <td class="roll_rate">
                                    <input type="number" class="rate_input" name="roll_rate" step="0.01" min="0" max="1.00" />
                                </td>
                                <td class="roll_pitch_rate" rowspan="2">
                                    <input type="number" name="roll_pitch_rate" step="0.01" min="0" max="1.00" />
                                </td>
                                <td rowspan="2" class="inputBackground">
                                    <input type="number" class="expo_input" name="rc_expo" step="0.01" min="0" max="1" />
                                    <div class="bracket"></div>
                                </td>
                                <td class="new_rates acroCenterSensitivityRoll"></td>
                                <td class="new_rates maxAngularVelRoll"></td>
                            </tr>
                            <tr class="PITCH">
                                <td class="pid_pitch"></td>
                                <td>
                                    <input type="number" class="rc_rate_input" name="rc_rate_pitch" step="0.01" min="0.01" max="2.55" />
                                </td>
                                <td class="pitch_rate">
                                    <input type="number" class="rate_input" name="pitch_rate" step="0.01" min="0" max="1.00" />
                                </td>
                                <td>
                                    <input type="number" class="expo_input" name="rc_pitch_expo" step="0.01" min="0" max="1" />
                                </td>
                                <td class="new_rates acroCenterSensitivityPitch"></td>
                                <td class="new_rates maxAngularVelPitch"></td>
                            </tr>
                            <tr class="YAW">
                                <td class="pid_yaw"></td>
                                <td rowspan="1">
                                    <input type="number" class="rc_rate_input" name="rc_rate_yaw" step="0.01" min="0.01" max="2.55" />
                                </td>
                                <td>
                                    <input type="number" class="rate_input" name="yaw_rate" step="0.01" min="0" max="2.55" />
                                </td>
                                <td>
                                    <input type="number" class="expo_input" name="rc_yaw_expo" step="0.01" min="0" max="1" />
                                </td>
                                <td class="new_rates acroCenterSensitivityYaw"></td>
                                <td class="new_rates maxAngularVelYaw"></td>
                            </tr>
                        </table>
                    </div>

                    <div class="gui_box rc_curve">
                        <div class="rc_curve_bg">
                            <table class="cf rc_curve">
                                <thead>
                                    <tr>
                                        <th colspan="2">
                                            <div>
                                                <div i18n="pidTuningRatesCurve" class="float-left"></div>
                                                <div class="helpicon cf_tip" i18n_title="pidTuningRatesTip"></div>
                                            </div>
                                        </th>
                                    </tr>
                                </thead>
                                <tbody>
                                    <tr>
                                        <td colspan="2">
                                            <div class="rate_curve background_paper" style="position:relative;" >
                                                <canvas id="rate_curve_layer0" height="120px" style="position:absolute; top: 0; left: 0; z-index: 0; height:100%; width:100%;"></canvas>
                                                <canvas id="rate_curve_layer1" height="120px" style="position:absolute; top: 0; left: 0; z-index: 1; height:100%; width:100%;"></canvas>
                                            </div>
                                        </td>
                                    </tr>
                                </tbody>
                            </table>
                        </div>
                    </div>
                </div>

                <div class="cf_column">
                    <div class="gui_box tpa-old spacer_left">
                        <table class="cf">
                            <thead>
                                <tr>
                                    <th i18n="pidTuningTPA"></th>
                                    <th class="tpa-breakpoint" i18n="pidTuningTPABreakPoint"></th>
                                </tr>
                            </thead>
                            <tbody>
                                <tr>
                                    <td class="tpaRate"><input type="number" name="tpa" step="0.01" min="0" max="1.00" /></td>
                                    <td class="tpaBreakpoint"><input type="number" name="tpa-breakpoint" step="10" min="1000" max="2000" /></td>
                                </tr>
                            </tbody>
                        </table>
                    </div>

                    <div class="gui_box throttle_limit spacer_left">
                        <table class="cf">
                            <thead>
                                <tr>
                                    <th>
                                        <div>
                                            <div i18n="pidTuningThrottleLimitType" class="float-left"></div>
                                            <div class="helpicon cf_tip" i18n_title="pidTuningThrottleLimitTypeTip"></div>
                                        </div>
                                    </th>
                                    <th>
                                        <div>
                                            <div i18n="pidTuningThrottleLimitPercent" class="float-left"></div>
                                            <div class="helpicon cf_tip" i18n_title="pidTuningThrottleLimitPercentTip"></div>
                                        </div>
                                    </th>
                                </tr>
                            </thead>
                            <tbody>
                                <tr>
                                    <td>
                                        <select id="throttleLimitType">
                                            <option i18n="pidTuningThrottleLimitTypeOff" value="0">
                                            <option i18n="pidTuningThrottleLimitTypeScale" value="1">
                                            <option i18n="pidTuningThrottleLimitTypeClip" value="2">
                                        </select>

                                    </td>
                                    <td><input type="number" name="throttleLimitPercent" step="1" min="25" max="100" /></td>
                                </tr>
                            </tbody>
                        </table>
                    </div>

                    <div class="gui_box throttle spacer_left">
                        <table class="cf">
                            <thead>
                                <tr>
                                    <th i18n="receiverThrottleMid"></th>
                                    <th i18n="receiverThrottleHover"></th>
                                    <th i18n="receiverThrottleExpo"></th>
                                </tr>
                            </thead>
                            <tbody>
                                <tr>
                                    <td><input type="number" name="mid" step="0.01" min="0" max="1" /></td>
                                    <td><input type="number" name="hover" step="0.01" min="0" max="1" value="0.5"/></td>
                                    <td><input type="number" name="expo" step="0.01" min="0" max="1" /></td>
                                </tr>
                            </tbody>
                        </table>
                    </div>

                    <div class="gui_box throttle spacer_left">
                        <table class="cf">
                            <thead>
                                <tr>
                                    <th i18n="pidTuningThrottleCurvePreview" colspan="2"></th>
                                </tr>
                            </thead>
                            <tr>
                                <td colspan="2" class="throttleCurvePreview">
                                    <div class="throttle_curve background_paper">
                                        <canvas height="164px" style="width: 100%; height: 100%"></canvas>
                                    </div>
                                </td>
                            </tr>
                        </table>
                    </div>
                </div>

                <div class="cf_column">
                    <div class="gui_box ratePreview grey spacer_left">
                        <table class="pid_titlebar">
                            <thead>
                                <tr>
                                    <th i18n="pidTuningRatesPreview"></th>
                                </tr>
                            </thead>
                            <tbody>
                                <tr>
                                    <td class="rates_preview_cell">
                                        <div class="rates_preview background_paper">
                                            <canvas id="canvas"></canvas>
                                        </div>
                                    </td>
                                </tr>
                            </tbody>
                        </table>
                    </div>
                </div>
            </div>

            <!-- FILTER SUBTAB -->
            <div class="subtab-filter" style="display: none;">
                <div class="clear-both"></div>
                <div class="note tuningHelp">
                    <p i18n="tuningHelp"></p>
                </div>
                <div class="note tuningHelpSliders">
                    <p i18n="tuningHelpSliders"></p>
                </div>
                <div class="note filterWarning">
                    <p i18n="filterWarning"></p>
                </div>
                <div class="gui_box slidersDisabled">
                    <table class="note-button">
                        <td i18n="pidTuningSlidersDisabled"></td>
                        <td>
                            <a href="#" class="buttonFilterTuningSliders regular-button" i18n="pidTuningSliderEnableButton"></a>
                        </td>
                    </table>
                </div>

                <!-- Filter Slider -->
                <div id="slidersFilterBox" class="gui_box grey tuningFilterSliders">
                    <table class="pid_titlebar">
                        <tr>
                            <th scope="col" class="sm-min"></th>
                            <th></th>
                            <th i18n="pidTuningSliderHighFiltering"></th>
                            <th i18n="pidTuningSliderDefaultFiltering"></th>
                            <th i18n="pidTuningSliderLowFiltering"></th>
                            <th>
                                <div class="helpicon cf_tip" i18n_title="pidTuningFilterSlidersHelp"></div>
                            </th>
                        </tr>
                    </table>

                    <table class="sliderLabels">
                        <tr class="xs sliderHeaders">
                            <td colspan="5">
                                <span i18n="pidTuningGyroFilterSlider"></span>
                            </td>
                        </tr>
                        <tr class="sliderGyroFilter">
                            <td class="sm-min">
                                <span i18n="pidTuningGyroFilterSlider"></span>
                            </td>
                            <td>
                                <output type="number" name="sliderGyroFilterMultiplier-number"></output>
                            </td>
                            <td colspan="3">
                                <input type="range" min="0.1" max="2.0" step="0.05" class="tuningSlider" id="sliderGyroFilterMultiplier" />
                            </td>
                            <td>
                                <div class="helpicon cf_tip" i18n_title="pidTuningGyroFilterSliderHelp"></div>
                            </td>
                        </tr>
                        <tr class="xs sliderHeaders">
                            <td colspan="5">
                                <span i18n="pidTuningDTermFilterSlider"></span>
                            </td>
                        </tr>
                        <tr class="sliderDTermFilter">
                            <td class="sm-min">
                                <span i18n="pidTuningDTermFilterSlider"></span>
                            </td>
                            <td>
                                <output type="number" name="sliderDTermFilterMultiplier-number"></output>
                            </td>
                            <td colspan="3">
                                <input type="range" min="0.1" max="2.0" step="0.05" class="tuningSlider" id="sliderDTermFilterMultiplier" />
                            </td>
                            <td>
                                <div class="helpicon cf_tip" i18n_title="pidTuningDTermFilterSliderHelp"></div>
                            </td>
                        </tr>
                    </table>
                </div>

                <div class="danger slidersWarning">
                    <p i18n="pidTuningSliderWarning"></p>
                </div>

                <div class="note nonExpertModeSlidersNote">
                    <p i18n="pidTuningFilterSlidersNonExpertMode"></p>
                </div>

                <div class="note expertSettingsDetectedNote">
                    <p i18n="pidTuningSlidersExpertSettingsDetectedNote"></p>
                </div>

                <div class="cf_column two_columns">
                    <div class="gui_box grey pid_filter two_columns_first">
                        <table class="pid_titlebar new_rates">
                            <tr>
                                <th i18n="pidTuningNonProfileFilterSettings"></th>
                                <td>
                                    <span i18n="pidTuningGyroSliderEnabled"></span>
                                    <select id="sliderGyroFilterModeSelect" class="sliderMode">
                                        <option value="0" i18n="pidTuningOptionOff"></option>
                                        <option value="1" i18n="pidTuningOptionOn"></option>
                                    </select>
                                </td>
                            </tr>
                        </table>

                        <table class="filterTable compensation">
                            <tr>
                                <th colspan="2">
                                    <div class="pid_mode">
                                        <div i18n="pidTuningGyroLowpassFiltersGroup" ></div>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningGyroLowpassFilterHelp"></div>
                                    </div>
                                </th>
                            </tr>

                            <tr class="gyroLowpass">
                                <td>
                                    <span class="inputSwitch"><input type="checkbox" id="gyroLowpassEnabled" class="toggle" /></span>
                                </td>
                                <td colspan="2">
                                    <div class="helpicon cf_tip" i18n_title="pidTuningGyroLowpassHelp"></div>
                                    <span i18n="pidTuningGyroLowpass"></span>

                                    <span class="suboption gyroLowpassFilterModeGroup">
                                        <span class="inputValue">
                                            <select name="gyroLowpassFilterMode">
                                                <option value="0" i18n="pidTuningLowpassStatic"></option>
                                                <option value="1" i18n="pidTuningLowpassDynamic"></option>
                                            </select>
                                        </span>
                                        <label>
                                            <span i18n="pidTuningGyroLowpassMode"></span>
                                        </label>
                                    </span>

                                    <span class="suboption static">
                                        <input type="number" class="nonProfile" name="gyroLowpassFrequency" step="1" min="1" max="1000"/>
                                        <label>
                                            <span i18n="pidTuningStaticCutoffFrequency"></span>
                                        </label>
                                    </span>

                                    <span class="suboption dynamic">
                                        <input type="number" name="gyroLowpassDynMinFrequency" step="1" min="1" max="1000"/>
                                        <label>
                                            <span i18n="pidTuningMinCutoffFrequency"></span>
                                        </label>
                                    </span>

                                    <span class="suboption dynamic">
                                        <input type="number" name="gyroLowpassDynMaxFrequency" step="1" min="1" max="1000"/>
                                        <label>
                                            <span i18n="pidTuningMaxCutoffFrequency"></span>
                                        </label>
                                    </span>

                                    <span class="suboption">
                                        <select name="gyroLowpassType">
                                            <!--  Populated on execution -->
                                        </select>
                                        <label>
                                            <span i18n="pidTuningLowpassFilterType"></span>
                                        </label>
                                    </span>

                                </td>
                            </tr>

                            <tr class="gyroLowpass2">
                                <td>
                                    <span class="inputSwitch"><input type="checkbox" id="gyroLowpass2Enabled" class="toggle" /></span>
                                </td>
                                <td colspan="2">
                                    <div class="helpicon cf_tip" i18n_title="pidTuningGyroLowpass2Help"></div>
                                    <span i18n="pidTuningGyroLowpass2"></span>

                                    <span class="suboption">
                                        <input type="number" class="nonProfile" name="gyroLowpass2Frequency" step="1" min="1" max="1000"/>
                                        <label>
                                            <span i18n="pidTuningStaticCutoffFrequency"></span>
                                        </label>
                                    </span>

                                    <span class="suboption">
                                        <select name="gyroLowpass2Type">
                                            <!--  Populated on execution -->
                                        </select>
                                        <label>
                                            <span i18n="pidTuningLowpassFilterType"></span>
                                        </label>
                                    </span>
                                </td>
                            </tr>

                            <tr>
                                <th colspan="2">
                                    <div class="pid_mode">
                                        <div i18n="pidTuningGyroNotchFiltersGroup" ></div>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningNotchFilterHelp" ></div>
                                    </div>
                                </th>
                            </tr>

                            <tr class="newFilter gyroNotch1">
                                <td><span class="inputSwitch"><input type="checkbox" id="gyroNotch1Enabled" class="toggle" /></span></td>
                                <td colspan="2">
                                    <div class="helpicon cf_tip" i18n_title="pidTuningGyroNotchFilterHelp"></div>
                                    <span i18n="pidTuningGyroNotchFilter"></span>

                                    <span class="suboption">
                                        <input type="number" class="nonProfile" name="gyroNotch1Frequency" step="1" min="1" max="16000"/>
                                        <label>
                                            <span i18n="pidTuningCenterFrequency"></span>
                                        </label>
                                    </span>

                                    <span class="suboption">
                                        <input type="number" class="nonProfile" name="gyroNotch1Cutoff" step="1" min="0" max="16000"/>
                                        <label>
                                            <span i18n="pidTuningCutoffFrequency"></span>
                                        </label>
                                    </span>
                                </td>
                            </tr>

                            <tr class="newFilter gyroNotch2">
                                <td><span class="inputSwitch"><input type="checkbox" id="gyroNotch2Enabled" class="toggle" /></span></td>
                                <td colspan="2">
                                    <div class="helpicon cf_tip" i18n_title="pidTuningGyroNotchFilter2Help"></div>
                                    <span i18n="pidTuningGyroNotchFilter2"></span>

                                    <span class="suboption">
                                        <input type="number" class="nonProfile" name="gyroNotch2Frequency" step="1" min="1" max="16000"/>
                                        <label>
                                            <span i18n="pidTuningCenterFrequency"></span>
                                        </label>
                                    </span>

                                    <span class="suboption">
                                        <input type="number" class="nonProfile" name="gyroNotch2Cutoff" step="1" min="0" max="16000"/>
                                        <label>
                                            <span i18n="pidTuningCutoffFrequency"></span>
                                        </label>
                                    </span>

                                </td>
                            </tr>

                            <tr class="newFilter rpmFilter">
                                <th class="rpmFilter" colspan="2">
                                    <div class="pid_mode rpmFilter">
                                        <div i18n="pidTuningRpmFilterGroup"></div>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningRpmFilterHelp"></div>
                                    </div>
                                </th>
                            </tr>

                            <tr class="newFilter rpmFilter">
                                <td><span class="inputSwitch"><input type="checkbox" id="rpmFilterEnabled" class="toggle" /></span></td>
                                <td colspan="2">
                                    <span i18n="pidTuningRpmFilterGroup"></span>

                                    <span class="suboption">
                                        <input type="number" class="nonProfile" name="rpmFilterHarmonics" step="1" min="1" max="3"/>
                                        <label>
                                            <span i18n="pidTuningRpmHarmonics"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningRpmHarmonicsHelp"></div>
                                    </span>

                                    <span class="suboption">
                                        <input type="number" name="rpmFilterMinHz" step="1" min="50" max="200"/>
                                        <label>
                                            <span i18n="pidTuningRpmMinHz"></span>
                                        </label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningRpmMinHzHelp"></div>
                                    </span>
                                </td>
                            </tr>

                            <tr class="newFilter dynamicNotch">
                                <th class="dynamicNotch" colspan="2">
                                    <div class="pid_mode dynamicNotch">
                                        <div i18n="pidTuningDynamicNotchFilterGroup"></div>
                                        <div class="helpicon cf_tip dynamicNotchHelp" i18n_title="pidTuningDynamicNotchFilterHelp"></div>
                                    </div>
                                    <div class="note dynamicNotchNyquistWarningNote">
                                        <p i18n="pidTuningDynamicNotchFilterNyquistWarning"></p>
                                    </div>
                                </th>
                            </tr>

                            <tr class="newFilter dynamicNotch">

                                <td>
                                    <span class="inputSwitch"><input type="checkbox" id="dynamicNotchEnabled" class="toggle" /></span>
                                </td>

                                <td colspan="2">
                                    <span i18n="pidTuningDynamicNotchFilterGroup"></span>

                                    <span class="suboption dynamicNotchCount">
                                        <input type="number" name="dynamicNotchCount" step="1" min="1" max="5"/>
                                        <label><span i18n="pidTuningDynamicNotchCount"></span></label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningDynamicNotchCountHelp"></div>
                                    </span>

                                    <span class="suboption dynamicNotchQ">
                                        <input type="number" name="dynamicNotchQ" step="1" min="1" max="1000"/>
                                        <label><span i18n="pidTuningDynamicNotchQ"></span></label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningDynamicNotchQHelp"></div>
                                    </span>

                                    <span class="suboption dynamicNotchMinHz">
                                        <input type="number" name="dynamicNotchMinHz" step="1" min="60" max="250"/>
                                        <label><span i18n="pidTuningDynamicNotchMinHz"></span></label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningDynamicNotchMinHzHelp"></div>
                                    </span>

                                    <span class="suboption dynamicNotchMaxHz">
                                        <input type="number" name="dynamicNotchMaxHz" step="1" min="200" max="1000"/>
                                        <label><span i18n="pidTuningDynamicNotchMaxHz"></span></label>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningDynamicNotchMaxHzHelp"></div>
                                    </span>
                                </td>
                            </tr>
                        </table>
                    </div>
                    <div class="gui_box grey pid_filter two_columns_second">
                        <table class="pid_titlebar new_rates">
                            <tr>
                                <th i18n="pidTuningFilterSettings"></th>
                                <td>
                                    <span i18n="pidTuningDTermSliderEnabled"></span>
                                    <select id="sliderDTermFilterModeSelect" class="sliderMode">
                                        <option value="0" i18n="pidTuningOptionOff"></option>
                                        <option value="1" i18n="pidTuningOptionOn"></option>
                                    </select>
                                </td>
                            </tr>
                        </table>

                        <table class="filterTable compensation">
                            <tr>
                                <th colspan="3">
                                    <div class="pid_mode">
                                        <div i18n="pidTuningDTermLowpassFiltersGroup" ></div>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningDTermLowpassFilterHelp"></div>
                                    </div>
                                </th>
                            </tr>

                            <tr class="dtermLowpass">
                                <td>
                                    <span class="inputSwitch"><input type="checkbox" id="dtermLowpassEnabled" class="toggle" /></span>
                                </td>

                                <td colspan="3">
                                    <div class="helpicon cf_tip" i18n_title="pidTuningDTermLowpassHelp"></div>
                                    <span i18n="pidTuningDTermLowpass"></span>

                                    <span class="suboption dtermLowpassFilterModeGroup">
                                        <span class="inputValue">
                                            <select name="dtermLowpassFilterMode">
                                                <option value="0" i18n="pidTuningLowpassStatic"></option>
                                                <option value="1" i18n="pidTuningLowpassDynamic"></option>
                                            </select>
                                        </span>
                                        <label>
                                            <span i18n="pidTuningDTermLowpassMode"></span>
                                        </label>
                                    </span>

                                    <span class="suboption static">
                                        <span class="inputValue"><input type="number" name="dtermLowpassFrequency" step="1" min="1" max="16000"/></span>
                                        <label>
                                            <span i18n="pidTuningStaticCutoffFrequency"></span>
                                        </label>
                                    </span>

                                    <span class="suboption dynamic">
                                        <span class="inputValue"><input type="number" name="dtermLowpassDynMinFrequency" step="1" min="1" max="1000"/></span>
                                        <label>
                                            <span i18n="pidTuningMinCutoffFrequency"></span>
                                        </label>
                                    </span>

                                    <span class="suboption dynamic">
                                        <span class="inputValue"><input type="number" name="dtermLowpassDynMaxFrequency" step="1" min="1" max="1000"/></span>
                                        <label>
                                            <span i18n="pidTuningMaxCutoffFrequency"></span>
                                        </label>
                                    </span>

                                    <span class="suboption dynamic">
                                        <span class="inputValue"><input type="number" name="dtermLowpassExpo" step="1" min="1" max="10"/></span>
                                        <label>
                                            <span i18n="pidTuningDTermLowpassDynExpo"></span>
                                        </label>
                                    </span>

                                    <span class="suboption">
                                        <select name="dtermLowpassType">
                                            <!--  Populated on execution -->
                                        </select>
                                        <label>
                                            <span i18n="pidTuningLowpassFilterType"></span>
                                        </label>
                                    </span>
                                </td>
                            </tr>

                            <tr class="dtermLowpass2">
                                <td>
                                    <span class="inputSwitch"><input type="checkbox" id="dtermLowpass2Enabled" class="toggle" /></span>
                                </td>
                                <td colspan="3">
                                    <div class="helpicon cf_tip" i18n_title="pidTuningDTermLowpass2Help"></div>
                                    <span i18n="pidTuningDTermLowpass2"></span>

                                    <span class="suboption">
                                        <span class="inputValue"><input type="number" name="dtermLowpass2Frequency" step="1" min="1" max="16000"/></span>
                                        <label>
                                            <span i18n="pidTuningStaticCutoffFrequency"></span>
                                        </label>
                                    </span>

                                    <span class="suboption dtermLowpass2TypeGroup">
                                        <select name="dtermLowpass2Type">
                                            <!--  Populated on execution -->
                                        </select>
                                        <label>
                                            <span i18n="pidTuningLowpassFilterType"></span>
                                        </label>
                                    </span>
                                </td>
                            </tr>

                            <tr>
                                <th colspan="3">
                                    <div class="pid_mode">
                                        <div  i18n="pidTuningDTermNotchFiltersGroup" ></div>
                                        <div class="helpicon cf_tip" i18n_title="pidTuningNotchFilterHelp" ></div>
                                    </div>
                                </th>
                            </tr>

                            <tr class="newFilter dtermNotch">
                                <td><span class="inputSwitch"><input type="checkbox" id="dtermNotchEnabled" class="toggle" /></span>
                                <td colspan="3">
                                    <div class="helpicon cf_tip" i18n_title="pidTuningDTermNotchFiltersGroupHelp"></div>
		                            <span i18n="pidTuningDTermNotchFiltersGroup"></span>

                                    <span class="suboption">
                                        <span class="inputValue"><input type="number" name="dTermNotchFrequency" step="1" min="1" max="16000"/></span>
                                        <label><span i18n="pidTuningCenterFrequency"></span></label>
                                    </span>

                                    <span class="suboption">
                                        <input type="number" name="dTermNotchCutoff" step="1" min="0" max="16000"/>
                                        <label><span i18n="pidTuningCutoffFrequency"></span></label>
                                    </span>
                                </td>
                            </tr>

                            <tr>
                                <th colspan="3">
                                    <div class="pid_mode" i18n="pidTuningYawLowpassFiltersGroup" ></div>
                                </th>
                            </tr>

                            <tr class="yawLowpass">
                                <td><span class="inputSwitch"><input type="checkbox" id="yawLowpassEnabled" class="toggle" /></span>
                                <td colspan="3">
                                    <div class="helpicon cf_tip" i18n_title="pidTuningYawLowpassFiltersGroupHelp"></div>
		                            <span i18n="pidTuningYawLowpassFiltersGroup"></span>

                                    <span class="suboption">
                                        <span class="inputValue"><input type="number" name="yawLowpassFrequency" step="1" min="1" max="500"/></span>
                                        <label>
                                            <span i18n="pidTuningStaticCutoffFrequency"></span>
                                        </label>
                                    </span>
                                </td>
                            </tr>
                        </table>
                    </div>
                </div>
            </div>
        </form>
        </div>
        <div class="clear-both"></div>
    </div>
    <dialog class="dialogCopyProfile">
        <h3 i18n="dialogCopyProfileTitle"></h3>
        <div class="content">
            <div i18n="dialogCopyProfileNote" style="margin-top: 10px"></div>

            <div class="contentProfile" style="margin-top:20px;">
                <div>
                    <span i18n="dialogCopyProfileText"></span> <select class="selectProfile"></select>
                </div>
            </div>

            <div class="contentRateProfile" style="margin-top:20px;">
                <div>
                    <span i18n="dialogCopyRateProfileText"></span> <select class="selectRateProfile"></select>
                </div>
            </div>

        </div>
        <div class="buttons">
            <a href="#" class="dialogCopyProfile-confirmbtn regular-button" i18n="dialogCopyProfileConfirm"></a>
            <a href="#" class="dialogCopyProfile-cancelbtn regular-button" i18n="dialogCopyProfileClose"></a>
        </div>
    </dialog>

    <dialog class="dialogRatesType">
        <h3 i18n="dialogRatesTypeTitle"></h3>
        <div class="content">
            <div i18n="dialogRatesTypeNote" style="margin-top: 10px"></div>

        </div>
        <div class="buttons">
            <a href="#" class="dialogRatesType-confirmbtn regular-button" i18n="dialogRatesTypeConfirm"></a>
            <a href="#" class="dialogRatesType-cancelbtn regular-button" i18n="cancel"></a>
        </div>
    </dialog>
</div>
<div class="content_toolbar toolbar_fixed_bottom">
    <div class="btn refresh_btn">
        <a class="refresh" href="#" i18n="pidTuningButtonRefresh"></a>
    </div>
    <div class="btn save_btn">
        <a class="update" href="#" i18n="pidTuningButtonSave"></a>
    </div>
</div>
